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<div class="title">quadruped.hpp</div>  </div>
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<a href="quadruped_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifndef QUADRUPED_H</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#define QUADRUPED_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common__header_8hpp.html">blmc_robots/common_header.hpp</a>&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="blmc__joint__module_8hpp.html">blmc_robots/blmc_joint_module.hpp</a>&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="slider_8hpp.html">blmc_robots/slider.hpp</a>&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__robots.html">blmc_robots</a>{</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__robots_1_1Quadruped.html">Quadruped</a></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="classblmc__robots_1_1Quadruped.html#a12bfe07e7cbab3bd4f5e091b830ee266">Quadruped</a>();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Quadruped.html#ad0e4bceb68fe245aa94343f7c41d456b">initialize</a>();</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Quadruped.html#ac4da7f38cea8e7e16f70375ca151e638">send_target_motor_current</a>(</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; target_motor_current);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Quadruped.html#ae309b6b40fd711ab01e3bbb63406d6e5">send_target_joint_torque</a>(</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; target_joint_torque);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Quadruped.html#ae0c15c6e709c1c1cdcbb38b1c4a4da94">acquire_sensors</a>();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Quadruped.html#ad0969d12e73dc5d55c4b6a3d45a14c11">set_hardstop2zero_offsets</a>(</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; hardstop2zero_offsets);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Quadruped.html#ab14b5aab489ac5f64a90ae718bffedbc">set_start2hardstop_offsets</a>(</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; start2hardstop_offsets);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a39477f7381b59b19ba63b1d5ba7c1d71">   72</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a39477f7381b59b19ba63b1d5ba7c1d71">get_motor_positions</a>()</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">return</span> motor_positions_;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  }</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#ade6e836a7ed912bd08b019dc8cd050e6">   84</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#ade6e836a7ed912bd08b019dc8cd050e6">get_motor_velocities</a>()</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  {</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">return</span> motor_velocities_;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a2356ceb799877558987b632b4342e4b5">   96</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a2356ceb799877558987b632b4342e4b5">get_motor_currents</a>()</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">return</span> motor_currents_;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a0fde31ca54bad99b67cc65b9bb3dc1dc">  105</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a0fde31ca54bad99b67cc65b9bb3dc1dc">get_motor_target_currents</a>()</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  {</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordflow">return</span> motor_target_currents_;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a327733904857742f04c88144800d44e1">  117</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a327733904857742f04c88144800d44e1">get_motor_torques</a>()</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  {</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordflow">return</span> motor_torques_;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  }</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a34706f7bfcd886f7551560707903ea69">  126</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a34706f7bfcd886f7551560707903ea69">get_target_motor_torques</a>()</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">return</span> motor_target_torques_;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#ac55b9000a47e628f9567ad4dd9bb9177">  135</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#ac55b9000a47e628f9567ad4dd9bb9177">get_motor_inertias</a>()</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  {</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordflow">return</span> motor_inertias_;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#ae9e5055b55a1b174f1e9f44910e7d244">  147</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#ae9e5055b55a1b174f1e9f44910e7d244">get_motor_encoder_indexes</a>()</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">return</span> motor_encoder_indexes_;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  }</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a8aeca596057aef7d7f41634054d8b5d3">  156</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a8aeca596057aef7d7f41634054d8b5d3">get_motor_torque_constants</a>()</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  {</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">return</span> motor_torque_constants_;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#aa94321ce669380bcec1f92534333a0f4">  166</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#aa94321ce669380bcec1f92534333a0f4">get_joint_positions</a>()</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">return</span> joint_positions_;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a8e001a738d9966f71c5493e32b702e51">  176</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a8e001a738d9966f71c5493e32b702e51">get_joint_velocities</a>()</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  {</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordflow">return</span> joint_velocities_;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  }</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a369021bdc680c5e077d18e45a7881adc">  186</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a369021bdc680c5e077d18e45a7881adc">get_joint_torques</a>()</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  {</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordflow">return</span> joint_torques_;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#afc71f44c306c8647a2c68aeb2d2f6173">  195</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#afc71f44c306c8647a2c68aeb2d2f6173">get_joint_target_torques</a>()</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  {</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordflow">return</span> joint_target_torques_;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  }</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a35e0b40ba09d2fc5358268cbd219a50c">  204</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a35e0b40ba09d2fc5358268cbd219a50c">get_joint_gear_ratios</a>()</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  {</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordflow">return</span> joint_gear_ratios_;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  }</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a66056ff38ae444eda25c927918db3bae">  213</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a66056ff38ae444eda25c927918db3bae">get_hardstop2zero_offsets</a>()</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordflow">return</span> joint_hardstop2zero_offsets_;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  }</div><div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#ad7defcbb5948eb5314310df01b57a604">  221</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#ad7defcbb5948eb5314310df01b57a604">get_start2hardstop_offsets_</a>()</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">return</span> joint_start2hardstop_offsets_;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  }</div><div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a5925b23ca79faeead3cfdd46ead11bc1">  230</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Eigen::Vector4d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a5925b23ca79faeead3cfdd46ead11bc1">get_slider_positions</a>()</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  {</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordflow">return</span> slider_positions_;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  }</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#ad60c4b223ab5d257043567784c0382ca">  240</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Eigen::Vector4d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#ad60c4b223ab5d257043567784c0382ca">get_contact_sensors_states</a>()</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  {</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">return</span> contact_sensors_states_;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  }</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;</div><div class="line"><a name="l00250"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a6027cb2d0b69c6efb181abf7aa1edc86">  250</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#a6027cb2d0b69c6efb181abf7aa1edc86">get_max_current</a>()</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  {</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">return</span> motor_max_current_;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  }</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div><div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#af93a50ed874a5c7c26021d279da93785">  260</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; <a class="code" href="classblmc__robots_1_1Quadruped.html#af93a50ed874a5c7c26021d279da93785">get_max_joint_torque</a>()</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  {</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keywordflow">return</span> joint_max_torque_;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  }</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  </div><div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a670516a78d7677f9f9f0b443b1cf7a61">  270</a></span>&#160;  <span class="keyword">const</span> std::array&lt;bool, 8&gt;&amp; <a class="code" href="classblmc__robots_1_1Quadruped.html#a670516a78d7677f9f9f0b443b1cf7a61">get_motor_enabled</a>()</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  {</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordflow">return</span> motor_enabled_;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  }</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#aea65e9f10e3299d2bcf9d48fe2af9e32">  280</a></span>&#160;  <span class="keyword">const</span> std::array&lt;bool, 8&gt;&amp; <a class="code" href="classblmc__robots_1_1Quadruped.html#aea65e9f10e3299d2bcf9d48fe2af9e32">get_motor_ready</a>()</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  {</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keywordflow">return</span> motor_ready_;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  }</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;</div><div class="line"><a name="l00289"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a514ac7efdad51897d1f6d61dd6ca08af">  289</a></span>&#160;  <span class="keyword">const</span> std::array&lt;bool, 4&gt;&amp; <a class="code" href="classblmc__robots_1_1Quadruped.html#a514ac7efdad51897d1f6d61dd6ca08af">get_motor_board_enabled</a>()</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  {</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keywordflow">return</span> motor_board_enabled_;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  }</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;</div><div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#ad778669df9463635cdd5e61b005ac73c">  298</a></span>&#160;  <span class="keyword">const</span> std::array&lt;int, 4&gt;&amp; <a class="code" href="classblmc__robots_1_1Quadruped.html#ad778669df9463635cdd5e61b005ac73c">get_motor_board_errors</a>()</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  {</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordflow">return</span> motor_board_errors_;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  }</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div><div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Quadruped.html#a81ac8fec012fc1b31066031e299ecbad">  308</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Quadruped.html#a81ac8fec012fc1b31066031e299ecbad">set_max_current</a>(<span class="keyword">const</span> Eigen::Ref&lt;Vector8d&gt; max_current)</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  {</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    motor_max_current_ = max_current;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> i=0 ; i&lt;motors_.size() ; ++i)</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    {</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      blmc_drivers::SafeMotor* a_safe_motor =</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          (blmc_drivers::SafeMotor*)(&amp;motors_[i]);</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      a_safe_motor-&gt;set_max_current(motor_max_current_(i));</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    }</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    joint_max_torque_ = motor_max_current_.array() *</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                        motor_torque_constants_.array() *</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                        joint_gear_ratios_.array();</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  }</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_positions_;</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_velocities_;</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_currents_;</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_torques_;</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_inertias_;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_encoder_indexes_;</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_target_currents_;</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_target_torques_;</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_torque_constants_;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> target_motor_current_tmp_;</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  std::array&lt;bool, 8&gt; motor_enabled_;</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  std::array&lt;bool, 8&gt; motor_ready_;</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  std::array&lt;bool, 4&gt; motor_board_enabled_;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  std::array&lt;int, 4&gt; motor_board_errors_;</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> joint_positions_;</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> joint_velocities_;</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> joint_torques_;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> joint_target_torques_;</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> joint_gear_ratios_;</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> joint_hardstop2zero_offsets_;</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> joint_start2hardstop_offsets_;</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> joint_max_torque_;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  Eigen::Vector4d slider_positions_;</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  Eigen::Vector4d contact_sensors_states_;</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_max_current_;</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  std::array&lt;int, 8&gt; motor_to_card_index_;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  std::array&lt;int, 8&gt; motor_to_card_port_index_;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  std::array&lt;CanBus_ptr, 4&gt; can_buses_;</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  std::array&lt;CanBusMotorBoard_ptr, 4&gt; can_motor_boards_;</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  std::array&lt;MotorInterface_ptr, 8&gt; motors_;</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  std::array&lt;double, 8&gt; polarity_;</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  std::array&lt;Slider_ptr, 4&gt; sliders_;</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  </div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  std::array&lt;ContactSensor_ptr, 4&gt; contact_sensors_;</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;};</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;} <span class="comment">// namespace blmc_robots</span></div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;<span class="preprocessor">#endif // QUADRUPED_H</span></div><div class="ttc" id="classblmc__robots_1_1Quadruped_html"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html">blmc_robots::Quadruped</a></div><div class="ttdef"><b>Definition:</b> quadruped.hpp:18</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a5925b23ca79faeead3cfdd46ead11bc1"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a5925b23ca79faeead3cfdd46ead11bc1">blmc_robots::Quadruped::get_slider_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Eigen::Vector4d &gt; get_slider_positions()</div><div class="ttdoc">get_slider_positions </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:230</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a0fde31ca54bad99b67cc65b9bb3dc1dc"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a0fde31ca54bad99b67cc65b9bb3dc1dc">blmc_robots::Quadruped::get_motor_target_currents</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_motor_target_currents()</div><div class="ttdoc">get_motor_target_currents </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:105</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a34706f7bfcd886f7551560707903ea69"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a34706f7bfcd886f7551560707903ea69">blmc_robots::Quadruped::get_target_motor_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_target_motor_torques()</div><div class="ttdoc">get_target_motor_torques </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:126</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ae309b6b40fd711ab01e3bbb63406d6e5"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ae309b6b40fd711ab01e3bbb63406d6e5">blmc_robots::Quadruped::send_target_joint_torque</a></div><div class="ttdeci">void send_target_joint_torque(const Eigen::Ref&lt; Vector8d &gt; target_joint_torque)</div><div class="ttdoc">send_target_torques sends the target currents to the motors </div><div class="ttdef"><b>Definition:</b> quadruped.cpp:282</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a81ac8fec012fc1b31066031e299ecbad"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a81ac8fec012fc1b31066031e299ecbad">blmc_robots::Quadruped::set_max_current</a></div><div class="ttdeci">void set_max_current(const Eigen::Ref&lt; Vector8d &gt; max_current)</div><div class="ttdoc">set_max_current sets the maximum current that the motor can to apply. </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:308</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ae0c15c6e709c1c1cdcbb38b1c4a4da94"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ae0c15c6e709c1c1cdcbb38b1c4a4da94">blmc_robots::Quadruped::acquire_sensors</a></div><div class="ttdeci">void acquire_sensors()</div><div class="ttdoc">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...</div><div class="ttdef"><b>Definition:</b> quadruped.cpp:152</div></div>
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<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ac55b9000a47e628f9567ad4dd9bb9177"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ac55b9000a47e628f9567ad4dd9bb9177">blmc_robots::Quadruped::get_motor_inertias</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_motor_inertias()</div><div class="ttdoc">get_motor_inertias </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:135</div></div>
<div class="ttc" id="blmc__joint__module_8hpp_html"><div class="ttname"><a href="blmc__joint__module_8hpp.html">blmc_joint_module.hpp</a></div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a327733904857742f04c88144800d44e1"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a327733904857742f04c88144800d44e1">blmc_robots::Quadruped::get_motor_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_motor_torques()</div><div class="ttdoc">get_motor_torques </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:117</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a8e001a738d9966f71c5493e32b702e51"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a8e001a738d9966f71c5493e32b702e51">blmc_robots::Quadruped::get_joint_velocities</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_joint_velocities()</div><div class="ttdoc">get_joint_velocities </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:176</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_aa94321ce669380bcec1f92534333a0f4"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#aa94321ce669380bcec1f92534333a0f4">blmc_robots::Quadruped::get_joint_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_joint_positions()</div><div class="ttdoc">get_joint_positions </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:166</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a66056ff38ae444eda25c927918db3bae"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a66056ff38ae444eda25c927918db3bae">blmc_robots::Quadruped::get_hardstop2zero_offsets</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_hardstop2zero_offsets()</div><div class="ttdoc">get_hardstop2zero_offsets </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:213</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_afc71f44c306c8647a2c68aeb2d2f6173"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#afc71f44c306c8647a2c68aeb2d2f6173">blmc_robots::Quadruped::get_joint_target_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_joint_target_torques()</div><div class="ttdoc">get_joint_torques </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:195</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ad778669df9463635cdd5e61b005ac73c"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ad778669df9463635cdd5e61b005ac73c">blmc_robots::Quadruped::get_motor_board_errors</a></div><div class="ttdeci">const std::array&lt; int, 4 &gt; &amp; get_motor_board_errors()</div><div class="ttdoc">get_motor_board_errors </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:298</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a8aeca596057aef7d7f41634054d8b5d3"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a8aeca596057aef7d7f41634054d8b5d3">blmc_robots::Quadruped::get_motor_torque_constants</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_motor_torque_constants()</div><div class="ttdoc">get_motor_torque_constants </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:156</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ad60c4b223ab5d257043567784c0382ca"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ad60c4b223ab5d257043567784c0382ca">blmc_robots::Quadruped::get_contact_sensors_states</a></div><div class="ttdeci">const Eigen::Ref&lt; Eigen::Vector4d &gt; get_contact_sensors_states()</div><div class="ttdoc">get_contact_sensors_states </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:240</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a12bfe07e7cbab3bd4f5e091b830ee266"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a12bfe07e7cbab3bd4f5e091b830ee266">blmc_robots::Quadruped::Quadruped</a></div><div class="ttdeci">Quadruped()</div><div class="ttdoc">Quadruped is the constructor of the class. </div><div class="ttdef"><b>Definition:</b> quadruped.cpp:6</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ac4da7f38cea8e7e16f70375ca151e638"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ac4da7f38cea8e7e16f70375ca151e638">blmc_robots::Quadruped::send_target_motor_current</a></div><div class="ttdeci">void send_target_motor_current(const Eigen::Ref&lt; Vector8d &gt; target_motor_current)</div><div class="ttdoc">send_target_torques sends the target currents to the motors </div><div class="ttdef"><b>Definition:</b> quadruped.cpp:266</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a670516a78d7677f9f9f0b443b1cf7a61"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a670516a78d7677f9f9f0b443b1cf7a61">blmc_robots::Quadruped::get_motor_enabled</a></div><div class="ttdeci">const std::array&lt; bool, 8 &gt; &amp; get_motor_enabled()</div><div class="ttdoc">get_motor_enabled </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:270</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a39477f7381b59b19ba63b1d5ba7c1d71"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a39477f7381b59b19ba63b1d5ba7c1d71">blmc_robots::Quadruped::get_motor_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_motor_positions()</div><div class="ttdoc">get_motor_positions </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:72</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a369021bdc680c5e077d18e45a7881adc"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a369021bdc680c5e077d18e45a7881adc">blmc_robots::Quadruped::get_joint_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_joint_torques()</div><div class="ttdoc">get_joint_torques </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:186</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ad0969d12e73dc5d55c4b6a3d45a14c11"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ad0969d12e73dc5d55c4b6a3d45a14c11">blmc_robots::Quadruped::set_hardstop2zero_offsets</a></div><div class="ttdeci">void set_hardstop2zero_offsets(const Eigen::Ref&lt; Vector8d &gt; hardstop2zero_offsets)</div><div class="ttdoc">set_hardstop2zero_offsets </div><div class="ttdef"><b>Definition:</b> quadruped.cpp:255</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a2356ceb799877558987b632b4342e4b5"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a2356ceb799877558987b632b4342e4b5">blmc_robots::Quadruped::get_motor_currents</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_motor_currents()</div><div class="ttdoc">get_motor_currents </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:96</div></div>
<div class="ttc" id="common__header_8hpp_html"><div class="ttname"><a href="common__header_8hpp.html">common_header.hpp</a></div><div class="ttdoc">The hardware wrapper of the quadruped. </div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ae9e5055b55a1b174f1e9f44910e7d244"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ae9e5055b55a1b174f1e9f44910e7d244">blmc_robots::Quadruped::get_motor_encoder_indexes</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_motor_encoder_indexes()</div><div class="ttdoc">get_motor_encoder_indexes </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:147</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ab14b5aab489ac5f64a90ae718bffedbc"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ab14b5aab489ac5f64a90ae718bffedbc">blmc_robots::Quadruped::set_start2hardstop_offsets</a></div><div class="ttdeci">void set_start2hardstop_offsets(const Eigen::Ref&lt; Vector8d &gt; start2hardstop_offsets)</div><div class="ttdoc">set_start2hardstop_offsets </div><div class="ttdef"><b>Definition:</b> quadruped.cpp:260</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a514ac7efdad51897d1f6d61dd6ca08af"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a514ac7efdad51897d1f6d61dd6ca08af">blmc_robots::Quadruped::get_motor_board_enabled</a></div><div class="ttdeci">const std::array&lt; bool, 4 &gt; &amp; get_motor_board_enabled()</div><div class="ttdoc">get_motor_board_enabled </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:289</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ad7defcbb5948eb5314310df01b57a604"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ad7defcbb5948eb5314310df01b57a604">blmc_robots::Quadruped::get_start2hardstop_offsets_</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_start2hardstop_offsets_()</div><div class="ttdoc">get_start2hardstop_offsets_ </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:221</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_aea65e9f10e3299d2bcf9d48fe2af9e32"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#aea65e9f10e3299d2bcf9d48fe2af9e32">blmc_robots::Quadruped::get_motor_ready</a></div><div class="ttdeci">const std::array&lt; bool, 8 &gt; &amp; get_motor_ready()</div><div class="ttdoc">get_motor_ready </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:280</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a98975ffbe0bca1296078e0350dfedd60"><div class="ttname"><a href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">blmc_robots::Vector8d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 8, 1 &gt; Vector8d</div><div class="ttdoc">Vector8d shortcut for the eigen vector of size 8. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:33</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ade6e836a7ed912bd08b019dc8cd050e6"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ade6e836a7ed912bd08b019dc8cd050e6">blmc_robots::Quadruped::get_motor_velocities</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_motor_velocities()</div><div class="ttdoc">get_motor_velocities </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:84</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a6027cb2d0b69c6efb181abf7aa1edc86"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a6027cb2d0b69c6efb181abf7aa1edc86">blmc_robots::Quadruped::get_max_current</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_max_current()</div><div class="ttdoc">get_max_current </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:250</div></div>
<div class="ttc" id="namespaceblmc__robots_html"><div class="ttname"><a href="namespaceblmc__robots.html">blmc_robots</a></div><div class="ttdef"><b>Definition:</b> blmc_joint_module.cpp:15</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_ad0e4bceb68fe245aa94343f7c41d456b"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#ad0e4bceb68fe245aa94343f7c41d456b">blmc_robots::Quadruped::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdoc">initialize the robot by setting aligning the motors and calibrate the sensors to 0 ...</div><div class="ttdef"><b>Definition:</b> quadruped.cpp:74</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_a35e0b40ba09d2fc5358268cbd219a50c"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#a35e0b40ba09d2fc5358268cbd219a50c">blmc_robots::Quadruped::get_joint_gear_ratios</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_joint_gear_ratios()</div><div class="ttdoc">get_joint_gear_ratios </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:204</div></div>
<div class="ttc" id="classblmc__robots_1_1Quadruped_html_af93a50ed874a5c7c26021d279da93785"><div class="ttname"><a href="classblmc__robots_1_1Quadruped.html#af93a50ed874a5c7c26021d279da93785">blmc_robots::Quadruped::get_max_joint_torque</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector8d &gt; get_max_joint_torque()</div><div class="ttdoc">get_max_torque </div><div class="ttdef"><b>Definition:</b> quadruped.hpp:260</div></div>
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